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[wpimath] Remove deprecated TrapezoidProfile constructors (#6558)

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This commit is contained in:
Isaac Turner
2024-04-30 12:04:57 +08:00
committed by GitHub
parent f5e08652f8
commit 70417f64da
3 changed files with 1 additions and 204 deletions
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19
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
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@@ -102,23 +102,6 @@ class TrapezoidProfile {
* @param constraints The constraints on the profile, like maximum velocity.
*/
TrapezoidProfile(Constraints constraints); // NOLINT
/**
* Constructs a TrapezoidProfile.
*
* @param constraints The constraints on the profile, like maximum velocity.
* @param goal The desired state when the profile is complete.
* @param initial The initial state (usually the current state).
* @deprecated Pass the desired and current state into calculate instead of
* constructing a new TrapezoidProfile with the desired and current state
*/
[[deprecated(
"Pass the desired and current state into calculate instead of "
"constructing a new TrapezoidProfile with the desired and current "
"state")]]
TrapezoidProfile(Constraints constraints, State goal,
State initial = State{Distance_t{0}, Velocity_t{0}});
TrapezoidProfile(const TrapezoidProfile&) = default;
TrapezoidProfile& operator=(const TrapezoidProfile&) = default;
TrapezoidProfile(TrapezoidProfile&&) = default;
@@ -204,8 +187,6 @@ class TrapezoidProfile {
Constraints m_constraints;
State m_current;
State m_goal; // TODO: remove
bool m_newAPI; // TODO: remove
units::second_t m_endAccel;
units::second_t m_endFullSpeed;

83
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
View File

@@ -12,89 +12,8 @@
namespace frc {
template <class Distance>
TrapezoidProfile<Distance>::TrapezoidProfile(Constraints constraints)
: m_constraints(constraints), m_newAPI(true) {}
: m_constraints(constraints) {}
template <class Distance>
TrapezoidProfile<Distance>::TrapezoidProfile(Constraints constraints,
State goal, State initial)
: m_direction{ShouldFlipAcceleration(initial, goal) ? -1 : 1},
m_constraints(constraints),
m_current(Direct(initial)),
m_goal(Direct(goal)),
m_newAPI(false) {
if (m_current.velocity > m_constraints.maxVelocity) {
m_current.velocity = m_constraints.maxVelocity;
}
// Deal with a possibly truncated motion profile (with nonzero initial or
// final velocity) by calculating the parameters as if the profile began and
// ended at zero velocity
units::second_t cutoffBegin =
m_current.velocity / m_constraints.maxAcceleration;
Distance_t cutoffDistBegin =
cutoffBegin * cutoffBegin * m_constraints.maxAcceleration / 2.0;
units::second_t cutoffEnd = m_goal.velocity / m_constraints.maxAcceleration;
Distance_t cutoffDistEnd =
cutoffEnd * cutoffEnd * m_constraints.maxAcceleration / 2.0;
// Now we can calculate the parameters as if it was a full trapezoid instead
// of a truncated one
Distance_t fullTrapezoidDist =
cutoffDistBegin + (m_goal.position - m_current.position) + cutoffDistEnd;
units::second_t accelerationTime =
m_constraints.maxVelocity / m_constraints.maxAcceleration;
Distance_t fullSpeedDist =
fullTrapezoidDist -
accelerationTime * accelerationTime * m_constraints.maxAcceleration;
// Handle the case where the profile never reaches full speed
if (fullSpeedDist < Distance_t{0}) {
accelerationTime =
units::math::sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
fullSpeedDist = Distance_t{0};
}
m_endAccel = accelerationTime - cutoffBegin;
m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
}
template <class Distance>
typename TrapezoidProfile<Distance>::State
TrapezoidProfile<Distance>::Calculate(units::second_t t) const {
if (m_newAPI) {
throw std::runtime_error(
"Cannot use new constructor with deprecated Calculate()");
}
State result = m_current;
if (t < m_endAccel) {
result.velocity += t * m_constraints.maxAcceleration;
result.position +=
(m_current.velocity + t * m_constraints.maxAcceleration / 2.0) * t;
} else if (t < m_endFullSpeed) {
result.velocity = m_constraints.maxVelocity;
result.position += (m_current.velocity +
m_endAccel * m_constraints.maxAcceleration / 2.0) *
m_endAccel +
m_constraints.maxVelocity * (t - m_endAccel);
} else if (t <= m_endDeccel) {
result.velocity =
m_goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
units::second_t timeLeft = m_endDeccel - t;
result.position =
m_goal.position -
(m_goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) *
timeLeft;
} else {
result = m_goal;
}
return Direct(result);
}
template <class Distance>
typename TrapezoidProfile<Distance>::State
TrapezoidProfile<Distance>::Calculate(units::second_t t, State current,